CN103878763A - Three-freedom degree manipulator - Google Patents
Three-freedom degree manipulator Download PDFInfo
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- CN103878763A CN103878763A CN201410092252.1A CN201410092252A CN103878763A CN 103878763 A CN103878763 A CN 103878763A CN 201410092252 A CN201410092252 A CN 201410092252A CN 103878763 A CN103878763 A CN 103878763A
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Abstract
The invention relates to the technical field of mechanical automation, in particular to a three-freedom degree manipulator which is formed by a base assembly, an arm assembly and a gripper assembly. The arm assembly is arranged on the base assembly, and the gripper assembly is arranged at the end of the arm assembly. The three-freedom degree manipulator has the advantages that a three-freedom degree manipulator work station can be applied to automatic meal delivery of the catering industry and mechanical principle and designed experiment practical teaching of colleges and universities, and the automation degree reaches the international advanced level; the base assembly, the arm assembly and the gripper assembly are installed as a set, a mechanical structure is high in abrasion resistance, and the manipulator is safer and more reliable in operation.
Description
Technical field
The present invention designs mechanical automation technical field, relates in particular to a kind of multivariant manipulator.
Background technology
In recent years, along with deepening continuously of socioeconomic develop rapidly and Robotics research, factory manually transports material mode from relied in the past has progressively started to develop towards automation mode, intelligentized future development, this mode not only efficiency is high, and greatly reduces workman's potential danger in operation.But there is the shortcomings such as complex structure, cost is high, range of application is narrow, positioning precision is poor in current robot field's multiple degrees of freedom conveying robot.
For existing manipulator on market, existing patent three freedom degree manipulator is controlled mainly with PLC, there is the automatic lack of identification of pattern, patent of invention 201210027553.7 feeding mechanical hand cylinders have impact, be not suitable for small-power engineering goods, the low production efficiency of robot manipulator structure wear resistance is not high, without judging the problems such as geometry height.
Summary of the invention
The object of the invention is to provide a kind of three freedom degree manipulator work station, solve automatic capturing and transmission control, this object can realize by following measures:
Three freedom degree manipulator of the present invention, is made up of base assembly, arm component and paw assembly, and described arm component is arranged on base assembly, and paw assembly is arranged on the end of arm component;
Base assembly comprises that pedestal drive motors 1, pedestal motor reducer 2, pedestal worm screw 3, pedestal turbine 4, pedestal rotating shaft 7 form, pedestal drive motors 1 drives pedestal motor reducer 2 to drive pedestal worm screw 3, pedestal turbine 4 engaged transmission, and pedestal turbine 4 connects pedestal 32 by pedestal rotating shaft 7;
Arm component comprises mechanical arm body 8, arm motor 9, arm motor reducer 10, arm the second worm screw 12, arm the second turbine 11, second driving shaft 13, the second sprocket wheel 14, chain 15, the first sprocket wheel 16, the first power transmission shaft 17, crank 18, follower connecting rod 19 forms, arm motor 9 drives arm motor reducer 10 to drive arm the second worm screw 12, arm the second turbine 11 engaged transmission, arm the second turbine 11 is connected with the second sprocket wheel 14 by second driving shaft 13, the second sprocket wheel 14, chain 15, the first sprocket wheel 16 forms chain and sprocket driving device, the first sprocket wheel 16 is connected by the first power transmission shaft 17 with crank 18, crank 18 is connected with the helical screw 26 in paw assembly by follower connecting rod 19,
Paw assembly comprises gripper motor 22, gripper motor decelerator 23, universal joint 24, shaft coupling 25, helical screw 26, spiral shell piece 27, two forks 28, two distant bars 29, two mechanical paws 30; Gripper motor 22 drives universal joint 24 to drive helical screw 26 to rotate by gripper motor decelerator 23, helical screw 26 is through shaft coupling 25, on helical screw 26, be provided with the spiral shell piece 27 matching, the relative both sides of spiral shell piece 27 connect respectively fork 28, moving forward and backward by fork 28 of spiral shell piece 27 drives distant bar 29, driving device paw 30 open or closed.
Above-mentioned base assembly also comprises that the first travel switch 5, the first limit switch 6, the first travel switches 5 are arranged on one end of pedestal worm screw 3, and the first limit switch 6 is arranged on a side of pedestal turbine 4.
Above-mentioned arm component also comprises that the second travel switch 20, the second limit switch 21, the second travel switches 20 are arranged on one end of the first power transmission shaft 17, and the second limit switch 21 is arranged on a side of crank 18.
Above-mentioned paw assembly also comprises third trip switch 31, and third trip switch 31 is arranged on nearly helical screw 26 positions.
The present invention has following beneficial effect:
Three freedom degree manipulator work station can be applicable to the automatic food delivery of catering trade, the theory of mechanics of colleges and universities and contrived experiment practical teaching, and automaticity is reached advanced world standards.
In three freedom degree manipulator, critical component is driven by direct current generator, pedestal worm screw 3, pedestal turbine 4 mechanisms on base assembly can make mechanical arm rotate at XOY plane, adopt nested form to install base assembly, arm component, three branches of paw assembly, make the mechanical arm lifting flexibly can be at XOZ Plane Rotation, frame for movement antiwear property be strong.
In screw mechanism in paw assembly, the length of helical screw flexible modulation as required, thereby meet the moving forward and backward of spiral shell piece of different strokes, drive fork to swing and make mechanical paw opening and closing, mechanical paw chucking power is large, and the chucking power of various different tablewares is all had to good adaptability.
Three freedom degree manipulator work station has intelligent pattern recognition function, makes Robot actions more safe and reliable.
Accompanying drawing explanation
Fig. 1 is three freedom degree manipulator overall structure figure.
Fig. 2 is base assembly structure diagram.
Fig. 3 is arm component structure diagram.
Fig. 4 is paw modular construction sketch.
The specific embodiment
As shown in the figure, three freedom degree manipulator of the present invention, is made up of base assembly, arm component and paw assembly, and described arm component is arranged on base assembly, and paw assembly is arranged on the end of arm component;
Base assembly comprises that pedestal drive motors 1, pedestal motor reducer 2, pedestal worm screw 3, pedestal turbine 4, pedestal rotating shaft 7 form, pedestal turbine 4 connects pedestal 32 by pedestal rotating shaft 7, pedestal drive motors 1 drives pedestal motor reducer 2 to drive pedestal worm screw 3, pedestal turbine 4 engaged transmission, thereby drives pedestal 32 to rotate; Base assembly also comprises the first travel switch 5, the first limit switch 6, the first travel switch 5 is arranged on one end of pedestal worm screw 3, the first limit switch 6 is arranged on a side of pedestal turbine 4, determines by the first travel switch 5, the first limit switch 6 angle that pedestal 32 rotates.Fig. 2 is base assembly structure diagram.
Arm component comprises mechanical arm body 8, arm motor 9, arm motor reducer 10, arm the second worm screw 12, arm the second turbine 11, second driving shaft 13, the second sprocket wheel 14, chain 15, the first sprocket wheel 16, the first power transmission shaft 17, crank 18, follower connecting rod 19 forms, arm motor 9 drives arm motor reducer 10 to drive arm the second worm screw 12, arm the second turbine 11 engaged transmission, arm the second turbine 11 is connected with the second sprocket wheel 14 by second driving shaft 13, the second sprocket wheel 14, chain 15, the first sprocket wheel 16 forms chain and sprocket driving device, realize the horizontal movement of mechanical arm, the first sprocket wheel 16 is connected by the first power transmission shaft 17 with crank 18, and crank 18 is connected with the helical screw 26 in paw assembly by follower connecting rod 19, wherein crank 18 is strain shape cam structure shape, makes stroke ratio shorter, the feature of self-locking while utilizing arm the second worm screw 12, arm the second turbine 11 to engage, its reverse self-locking captures weight to gripper can play safeguard protection effect.
In manipulator arm, crank 18 forms 2 grades, space higher pair with adopting ball and cylindrical pair being connected of follower connecting rod 19, in arm, the follower connecting rod 19 of connecting crank 18 is connected with cylindrical pair with helical screw 26, keep moving both vertically of mechanical arm, mechanical arm can be flexible in the lifting of XOZ Plane Rotation.
Above-mentioned arm component also comprises that the second travel switch 20, the second limit switch 21, the second travel switches 20 are arranged on one end of the first power transmission shaft 17, and the second limit switch 21 is arranged on a side of crank 18.The second limit switch 21 is controlled mechanical arm lifting degree, solves the problem of mechanical arm lifting, and structural design has novelty.Arm component is shown in Fig. 3 at XOZ Plane Rotation constructional device sketch.
Paw assembly comprises gripper motor 22, gripper motor decelerator 23, universal joint 24, shaft coupling 25, helical screw 26, spiral shell piece 27, two forks 28, two distant bars 29, two mechanical paws 30; Gripper motor 22 drives universal joint 24 to drive helical screw 26 to rotate by gripper motor decelerator 23, helical screw 26 is through shaft coupling 25, on helical screw 26, be provided with the spiral shell piece 27 matching, the relative both sides of spiral shell piece 27 connect respectively fork 28, moving forward and backward by fork 28 of spiral shell piece 27 drives distant bar 29, opening or closure of driving device paw 30, above-mentioned paw assembly also comprises third trip switch 31, third trip switch 31 is arranged on nearly helical screw 26 positions.Fig. 4 is shown in by paw modular construction sketch.
Claims (4)
1. a three freedom degree manipulator, is characterized in that: be made up of base assembly, arm component and paw assembly, described arm component is arranged on base assembly, and paw assembly is arranged on the end of arm component;
Base assembly comprises pedestal drive motors (1), pedestal motor reducer (2), pedestal worm screw (3), pedestal turbine (4), pedestal rotating shaft (7) composition, pedestal drive motors (1) drives pedestal motor reducer (2) to drive pedestal worm screw (3), pedestal turbine (4) engaged transmission, and pedestal turbine (4) connects pedestal (32) by pedestal rotating shaft (7);
Arm component comprises mechanical arm body (8), arm motor (9), arm motor reducer (10), arm the second worm screw (12), arm the second turbine (11), second driving shaft (13), the second sprocket wheel (14), chain (15), the first sprocket wheel (16), the first power transmission shaft (17), crank (18), follower connecting rod (19) composition, arm motor (9) drives arm motor reducer (10) to drive arm the second worm screw (12), arm the second turbine (11) engaged transmission, arm the second turbine (11) is connected with the second sprocket wheel (14) by second driving shaft (13), the second sprocket wheel (14), chain (15), the first sprocket wheel (16) forms chain and sprocket driving device, the first sprocket wheel (16) is connected by the first power transmission shaft (17) with crank (18), crank (18) is connected with the helical screw (26) in paw assembly by follower connecting rod (19),
Paw assembly comprises gripper motor (22), gripper motor decelerator (23), universal joint (24), shaft coupling (25), helical screw (26), spiral shell piece (27), two forks (28), two distant bars (29), two mechanical paws (30); Gripper motor (22) drives universal joint (24) to drive helical screw (26) to rotate by gripper motor decelerator (23), helical screw (26) is through shaft coupling (25), on helical screw (26), be provided with the spiral shell piece (27) matching, the relative both sides of spiral shell piece (27) connect respectively fork (28), moving forward and backward by fork (28) of spiral shell piece (27) drives distant bar (29), driving device paw (30) open or closed.
2. three freedom degree manipulator according to claim 1, it is characterized in that: base assembly also comprises the first travel switch (5), the first limit switch (6), the first travel switch (5) is arranged on one end of pedestal worm screw (3), and the first limit switch (6) is arranged on a side of pedestal turbine (4).
3. three freedom degree manipulator according to claim 1, it is characterized in that: arm component also comprises the second travel switch (20), the second limit switch (21), the second travel switch (20) is arranged on one end of the first power transmission shaft (17), the second limit switch (21), is arranged on a side of crank (18).
4. three freedom degree manipulator according to claim 1, is characterized in that: paw assembly also comprises third trip switch (31), and third trip switch (31) is arranged on nearly helical screw (26) position.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410092252.1A CN103878763B (en) | 2014-03-14 | 2014-03-14 | Three freedom degree manipulator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410092252.1A CN103878763B (en) | 2014-03-14 | 2014-03-14 | Three freedom degree manipulator |
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| CN103878763A true CN103878763A (en) | 2014-06-25 |
| CN103878763B CN103878763B (en) | 2015-12-30 |
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| CN201410092252.1A Expired - Fee Related CN103878763B (en) | 2014-03-14 | 2014-03-14 | Three freedom degree manipulator |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105405472A (en) * | 2015-12-28 | 2016-03-16 | 哈尔滨工业大学 | Articulated type opening mechanism of heat radiation shielding case of refrigeration target |
| CN105922281A (en) * | 2016-05-28 | 2016-09-07 | 东莞市联洲知识产权运营管理有限公司 | Universal manipulator assembly of light-weight six-axis robot |
| CN106945057A (en) * | 2017-05-22 | 2017-07-14 | 盐城工业职业技术学院 | A kind of massage robot and robot massage bed |
| CN106976095A (en) * | 2017-05-25 | 2017-07-25 | 盐城工业职业技术学院 | A kind of massage robot and robot massage bed |
| CN107300357A (en) * | 2017-06-22 | 2017-10-27 | 昆明理工大学 | A kind of contactless Three Degree Of Freedom optical three-dimensional measurement turntable |
| CN107301721A (en) * | 2017-07-21 | 2017-10-27 | 江苏大学 | A kind of intelligent sorting machinery and its control method |
| CN107690318A (en) * | 2015-06-08 | 2018-02-13 | 柯惠Lp公司 | Erecting device and application method for surgery systems |
| CN107803827A (en) * | 2017-11-24 | 2018-03-16 | 中科步思德（洛阳）智控科技有限公司 | A kind of manipulator fixture and double machinery tong |
| CN107984491A (en) * | 2017-11-28 | 2018-05-04 | 广东工贸职业技术学院 | Automatic change mechanical clamping jaw |
| CN108340393A (en) * | 2018-03-19 | 2018-07-31 | 丁杨 | A kind of advanced manufacturing technology robot functionality finger |
| CN108820857A (en) * | 2018-07-18 | 2018-11-16 | 浙江辛帝亚自动化科技有限公司 | A kind of automatic transfer mechanical arm |
| CN110091936A (en) * | 2019-05-21 | 2019-08-06 | 南华大学 | Quadruped robot and gait control method based on five-bar mechanism |
| CN110181545A (en) * | 2019-05-06 | 2019-08-30 | 江苏大学 | A kind of Multi Role Aircraft machinery claw |
| CN110450248A (en) * | 2019-08-19 | 2019-11-15 | 安吉德迈竹木机械有限公司 | A kind of positioning mechanism of bamboo material |
| CN110496563A (en) * | 2019-09-08 | 2019-11-26 | 张步有 | A kind of food factory's automation stirring haulage equipment |
| CN112936236A (en) * | 2021-02-09 | 2021-06-11 | 浙江万胜智能科技股份有限公司 | High-precision ammeter clamping manipulator |
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Cited By (25)
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|---|---|---|---|---|
| CN112932674A (en) * | 2015-06-08 | 2021-06-11 | 柯惠Lp公司 | Mounting device for surgical system and method of use |
| CN107690318A (en) * | 2015-06-08 | 2018-02-13 | 柯惠Lp公司 | Erecting device and application method for surgery systems |
| CN105405472A (en) * | 2015-12-28 | 2016-03-16 | 哈尔滨工业大学 | Articulated type opening mechanism of heat radiation shielding case of refrigeration target |
| CN105922281A (en) * | 2016-05-28 | 2016-09-07 | 东莞市联洲知识产权运营管理有限公司 | Universal manipulator assembly of light-weight six-axis robot |
| CN105922281B (en) * | 2016-05-28 | 2017-12-22 | 徐州市柯瑞斯电机制造有限公司 | A kind of mechanical arm assembly of light-duty six axles all-purpose robot |
| CN106945057A (en) * | 2017-05-22 | 2017-07-14 | 盐城工业职业技术学院 | A kind of massage robot and robot massage bed |
| CN106976095A (en) * | 2017-05-25 | 2017-07-25 | 盐城工业职业技术学院 | A kind of massage robot and robot massage bed |
| CN106976095B (en) * | 2017-05-25 | 2023-09-22 | 盐城工业职业技术学院 | Massage robot and robot massage bed |
| CN107300357A (en) * | 2017-06-22 | 2017-10-27 | 昆明理工大学 | A kind of contactless Three Degree Of Freedom optical three-dimensional measurement turntable |
| CN107300357B (en) * | 2017-06-22 | 2023-05-12 | 昆明理工大学 | Non-contact three-degree-of-freedom optical three-dimensional measurement turntable |
| CN107301721A (en) * | 2017-07-21 | 2017-10-27 | 江苏大学 | A kind of intelligent sorting machinery and its control method |
| CN107301721B (en) * | 2017-07-21 | 2023-01-17 | 江苏大学 | Intelligent sorting machine and control method thereof |
| CN107803827A (en) * | 2017-11-24 | 2018-03-16 | 中科步思德（洛阳）智控科技有限公司 | A kind of manipulator fixture and double machinery tong |
| CN107803827B (en) * | 2017-11-24 | 2023-08-11 | 中国科学院自动化研究所 | Manipulator clamp and double-station manipulator |
| CN107984491A (en) * | 2017-11-28 | 2018-05-04 | 广东工贸职业技术学院 | Automatic change mechanical clamping jaw |
| CN108340393A (en) * | 2018-03-19 | 2018-07-31 | 丁杨 | A kind of advanced manufacturing technology robot functionality finger |
| CN108820857A (en) * | 2018-07-18 | 2018-11-16 | 浙江辛帝亚自动化科技有限公司 | A kind of automatic transfer mechanical arm |
| CN110181545A (en) * | 2019-05-06 | 2019-08-30 | 江苏大学 | A kind of Multi Role Aircraft machinery claw |
| CN110181545B (en) * | 2019-05-06 | 2021-05-25 | 江苏大学 | Multifunctional mechanical claw |
| CN110091936A (en) * | 2019-05-21 | 2019-08-06 | 南华大学 | Quadruped robot and gait control method based on five-bar mechanism |
| CN110091936B (en) * | 2019-05-21 | 2023-05-05 | 南华大学 | Four-foot robot based on five-bar mechanism and gait control method |
| CN110450248A (en) * | 2019-08-19 | 2019-11-15 | 安吉德迈竹木机械有限公司 | A kind of positioning mechanism of bamboo material |
| CN110450248B (en) * | 2019-08-19 | 2024-04-09 | 安吉德迈竹木机械有限公司 | Positioning mechanism for bamboo material |
| CN110496563A (en) * | 2019-09-08 | 2019-11-26 | 张步有 | A kind of food factory's automation stirring haulage equipment |
| CN112936236A (en) * | 2021-02-09 | 2021-06-11 | 浙江万胜智能科技股份有限公司 | High-precision ammeter clamping manipulator |
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